Control Strategy And Error-tolerant Strategy For Multi-object Separation Using Visual Servo

With the development of industrial production lines, industrial sorting system has implemented basically unmanned operation. But in a complex multi-target separation system, because of the diverse objective state, mutual interaction and restriction among multi-target, and the wrong separation results, manual intervention is required. To meet the real-time requirement and improve the robustness of the multi-target separation system, this thesis studies the separation control strategy and error-tolerant method. The content of the thesis is as follow.Trajectory planning: Plan separation path according to the state of a number of objectives and separation plan. This paper presents a coarse-to-fine trajectory planning strategy, namely obtain the initial separation line firstly, and then refine separation path by selecting the separation objects near the initial separation line using the triangulation and neighborhood search method, finally evaluate the methods and optimize the separation trajectory.Position control: The separator is controlled along the separation trajectory by visual feedback. For the separator in the process of separation can not move to the exact location, it is accurately moved to the target location by visual position servo control based on the electricity feedback and PID control strategy combining fuzzy control.Separation strategy: It is difficult to separate the objects according to the plan for the interaction among the objects and the complex distribution. Firstly it makes the difficulty level according to the objective distribution, and then rapidly finishes the separation plan by lowering the difficulty level.Error-tolerant strategy: On the problem of separation mistake caused by the role of disturbance of separator in the process of separation, it develops the projection and integral error-tolerant strategy using the characteristic of the stability of gray-scale statistical value in the separating process. Make many times separation- many times correction- real-time trajectory planning strategy in the multi-target separation system to evaluate separation result and improve the robustness of the system.A lot of experiments in Jinan Steel factory show that the proposed control and separation strategy and error-tolerant strategy are effective, and are able to meet the requirements of the pipeline operation in the actual industrial production.